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webbot.html
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webbot.html
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<!DOCTYPE html>
<html>
<head>
<title>Browser Robot Test page </title>
<meta name="viewport" content="initial-scale=1, width=device-width" />
<style>
footer {
position:fixed;
bottom:0;
margin-left: auto;
margin-right: auto;
height:72pt;
width: 100%;
}
</style>
</head>
<body>
<div id="app"></div>
<script>
//This page blinks sections of the screen in order to send data via I2C
//or a shift register based on the idea developed here:
//http://techref.massmind.org/techref/io/serial/i2c/withGIFs.html
//the position of the images is easily controlled in the styles.css file
// by changing the <footer> setup.
// e.g. to move the blocks to the top, change the "bottom: 0;" to "top: 0;"
//Javascript inline instead of in index.js to simplify access to js proceedures from html
//A version rewritten with a state machine approach can be found at:
//https://stackblitz.com/edit/js-kxazxy?file=index.html
//I2C reference data:
//http://techref.massmind.org/techref/i2cs.htm
const appDiv = document.getElementById('app');
appDiv.innerHTML = `-`;
var black =
'data:image/gif;base64,R0lGODlhAQABAPcAAAAAAIAAAACAAICAAAAAgIAAgACAgICAgMDAwP8AAAD/AP//AAAA//8A/wD//////wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAMwAAZgAAmQAAzAAA/wAzAAAzMwAzZgAzmQAzzAAz/wBmAABmMwBmZgBmmQBmzABm/wCZAACZMwCZZgCZmQCZzACZ/wDMAADMMwDMZgDMmQDMzADM/wD/AAD/MwD/ZgD/mQD/zAD//zMAADMAMzMAZjMAmTMAzDMA/zMzADMzMzMzZjMzmTMzzDMz/zNmADNmMzNmZjNmmTNmzDNm/zOZADOZMzOZZjOZmTOZzDOZ/zPMADPMMzPMZjPMmTPMzDPM/zP/ADP/MzP/ZjP/mTP/zDP//2YAAGYAM2YAZmYAmWYAzGYA/2YzAGYzM2YzZmYzmWYzzGYz/2ZmAGZmM2ZmZmZmmWZmzGZm/2aZAGaZM2aZZmaZmWaZzGaZ/2bMAGbMM2bMZmbMmWbMzGbM/2b/AGb/M2b/Zmb/mWb/zGb//5kAAJkAM5kAZpkAmZkAzJkA/5kzAJkzM5kzZpkzmZkzzJkz/5lmAJlmM5lmZplmmZlmzJlm/5mZAJmZM5mZZpmZmZmZzJmZ/5nMAJnMM5nMZpnMmZnMzJnM/5n/AJn/M5n/Zpn/mZn/zJn//8wAAMwAM8wAZswAmcwAzMwA/8wzAMwzM8wzZswzmcwzzMwz/8xmAMxmM8xmZsxmmcxmzMxm/8yZAMyZM8yZZsyZmcyZzMyZ/8zMAMzMM8zMZszMmczMzMzM/8z/AMz/M8z/Zsz/mcz/zMz///8AAP8AM/8AZv8Amf8AzP8A//8zAP8zM/8zZv8zmf8zzP8z//9mAP9mM/9mZv9mmf9mzP9m//+ZAP+ZM/+ZZv+Zmf+ZzP+Z///MAP/MM//MZv/Mmf/MzP/M////AP//M///Zv//mf//zP///ywAAAAAAQABAAAIBAABBAQAOw==';
var white =
'data:image/gif;base64,R0lGODlhAQABAPcAAAAAAIAAAACAAICAAAAAgIAAgACAgICAgMDAwP8AAAD/AP//AAAA//8A/wD//////wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAMwAAZgAAmQAAzAAA/wAzAAAzMwAzZgAzmQAzzAAz/wBmAABmMwBmZgBmmQBmzABm/wCZAACZMwCZZgCZmQCZzACZ/wDMAADMMwDMZgDMmQDMzADM/wD/AAD/MwD/ZgD/mQD/zAD//zMAADMAMzMAZjMAmTMAzDMA/zMzADMzMzMzZjMzmTMzzDMz/zNmADNmMzNmZjNmmTNmzDNm/zOZADOZMzOZZjOZmTOZzDOZ/zPMADPMMzPMZjPMmTPMzDPM/zP/ADP/MzP/ZjP/mTP/zDP//2YAAGYAM2YAZmYAmWYAzGYA/2YzAGYzM2YzZmYzmWYzzGYz/2ZmAGZmM2ZmZmZmmWZmzGZm/2aZAGaZM2aZZmaZmWaZzGaZ/2bMAGbMM2bMZmbMmWbMzGbM/2b/AGb/M2b/Zmb/mWb/zGb//5kAAJkAM5kAZpkAmZkAzJkA/5kzAJkzM5kzZpkzmZkzzJkz/5lmAJlmM5lmZplmmZlmzJlm/5mZAJmZM5mZZpmZmZmZzJmZ/5nMAJnMM5nMZpnMmZnMzJnM/5n/AJn/M5n/Zpn/mZn/zJn//8wAAMwAM8wAZswAmcwAzMwA/8wzAMwzM8wzZswzmcwzzMwz/8xmAMxmM8xmZsxmmcxmzMxm/8yZAMyZM8yZZsyZmcyZzMyZ/8zMAMzMM8zMZszMmczMzMzM/8z/AMz/M8z/Zsz/mcz/zMz///8AAP8AM/8AZv8Amf8AzP8A//8zAP8zM/8zZv8zmf8zzP8z//9mAP9mM/9mZv9mmf9mzP9m//+ZAP+ZM/+ZZv+Zmf+ZzP+Z///MAP/MM//MZv/Mmf/MzP/M////AP//M///Zv//mf//zP///yH5BAEAABAALAAAAAABAAEAAAgEAP8FBAA7';
//assuming the use of a photo sensitive resistor between the analog pin and ground,
//and an internal or external pullup resistor to the power rail,
//a white screen will cause a low voltage, and a black screen will allow the voltage to rise
var logic1 = black
var logic0 = white
var delay = 60;
var count = 0;
function sendI2Cscl(value) {
document.images["scl"].src = value ? logic1 : logic0;
return new Promise((resolve) => {
setTimeout(() => {
resolve();
}, delay);
});
}
function sendI2Csda(value) {
document.images["sda"].src = value ? logic1 : logic0;
return new Promise((resolve) => {
setTimeout(() => {
resolve();
}, delay);
});
}
function sendLatch(value) {
document.images["lat"].src = value ? logic1 : logic0;
return new Promise((resolve) => {
setTimeout(() => {
resolve();
}, delay);
});
}
async function sendByte(byte) {
//clock out 8 bits of data, 3 delay periods per bit
let bits = byte.toString(2).padStart(8, '0');
return new Promise(async (resolve) => {
for (let i = 0; i < 8; i++) {
let bit = bits[i];
let b = bit == '1' ? true : false;
//console.log(bits, bit, b);
appDiv.innerHTML = bits + ' ' + bit + ' ' + b;
await sendI2Cscl(false);
await sendI2Csda(b);
await sendI2Cscl(true);
}
resolve();
});
}
//http://techref.massmind.org/techref/i2cs.htm
async function sendBytes(data) {
console.log(data);
//send i2c start, 3 delay periods
await sendI2Csda(true); //ready (should aleady be high)
await sendI2Cscl(true); //should already be
await sendI2Csda(false); //start
for (let i = 0; i < data.length; i++) {
//send a byte, 3+2 delays per byte
console.log('Byte ' + i);
await sendByte(data[i]);
await sendLatch(true); //latch for shift register
await sendLatch(false);
}
//finish and send stop, 4 delay periods
await sendI2Cscl(false); //finish the last bit
await sendI2Csda(false); //now we can lower data
await sendI2Cscl(true); //and raise clock
await sendI2Csda(true); //the raise data with clock to stop
}
//total delay per call is 5*len + 7
function hexToBytes(hex) {
hex = hex.split(' ').join('');
for (var bytes = [], c = 0; c < hex.length; c += 2)
bytes.push(parseInt(hex.substr(c, 2), 16));
return bytes;
}
async function sendI2CData(s) {
let bytes = [];
for (let i = 0; i < s.length; i++) {
bytes.push(s.charCodeAt(i));
}
sendBytes(bytes);
}
function sendI2CHexData(s) {
sendBytes(hexToBytes(s));
}
</script>
This page uses the camera to show differences over time and
summarize those changes as being in the left, right, or top
center of the area.
<BR>
Press Video to start using
the camera. It needs to be able to support 180x120 format.
Press Capture or click the video to display the difference,
or press Start to display one difference per second. Press
Stop to stop.
<P>
<input type="button" id="capture-button" value="Video">
<input type="button" id="screenshot-button" value="Capture">
<input type="button" id="start-button" value="Run">
<input type="button" id="stop-button" value="Stop">
<br><video autoplay id="my-video"></video>
<img id="my-image" src="">
<canvas style="display:none;"></canvas>
<br><span id="results"></span>
</P>
<script>
//do simple image subtraction for movement detection by area.
const thresh = 50 //set a threshold for how much changes we must see before we react.
function byId(id) {return document.getElementById(id)}
const captureVideoButton = byId("capture-button")
const screenshotButton = byId("screenshot-button")
const startButton = byId("start-button")
const stopButton = byId("stop-button")
const img = byId('my-image');
const video = byId('my-video');
var interval
var saved
const canvas = document.createElement('canvas')
const constraints = { video: {width: {exact: 90}, height: {exact: 60} } }
captureVideoButton.onclick = function() {
navigator.mediaDevices.getUserMedia(constraints).
then((stream) => {video.srcObject = stream})
}
function arraySum(data) {
//https://jsperf.com/array-reduce-vs-foreach/2
let total = 0
for (let i=0, n=data.length; i<n; i++) {
total += data[i]
}
return total
}
screenshotButton.onclick = video.onclick = function() {
let w = canvas.width = video.videoWidth;
let h = canvas.height = video.videoHeight;
let leftwidth=Math.floor(w/3)
let rightwidth=Math.floor(w/3)
let centerwidth=w - leftwidth - rightwidth
let ctx = canvas.getContext('2d',{willReadFrequently: true})
ctx.drawImage(video, 0, 0)
// Other browsers will fall back to image/png
if (!saved) saved = ctx.getImageData(0, 0, w, h)
let imageData = ctx.getImageData(0,0, w, h)
let data = imageData.data
for (let i = 0; i < data.length; i += 4) {
let r=i, g=i+1, b=i+2
data[r] = Math.abs(saved.data[r] - data[r]); // red
data[g] = Math.abs(saved.data[g] - data[g]); // green
data[b] = Math.abs(saved.data[b] - data[b]); // blue
if (data[r] < thresh) data[r]=0
if (data[g] < thresh) data[g]=0
if (data[b] < thresh) data[b]=0
}
saved = ctx.getImageData(0, 0, w, h)
ctx.putImageData(imageData, 0, 0)
img.src = canvas.toDataURL('image/webp')
//sum remaining image by area
let leftside = arraySum(ctx.getImageData(0, 0, leftwidth, h).data)
let rightside = arraySum(ctx.getImageData(w-rightwidth,0,rightwidth,h).data)
let centertop = arraySum(ctx.getImageData(
leftwidth, 0, centerwidth, Math.floor(h/2)
).data)
//subtract out the alpha channels
leftside -= leftwidth*h*255
rightside -= rightwidth*h*255
centertop -= centerwidth * Math.floor(h/2) * 255
byId("results").innerHTML = "left:"+leftside+" center:"+centertop+" right:"+rightside
let leftmotor = 0
let rightmotor = 0
if (leftside > rightside) {
byId("results").innerHTML += " turn right"
sendI2CData("R")
rightmotor -= 100
leftmotor += 100
}
if (rightside > leftside) {
byId("results").innerHTML += " turn left"
sendI2CData("L")
rightmotor += 100
leftmotor -= 100
}
if (centertop == 0) {
byId("results").innerHTML += " forward"
sendI2CData("F")
rightmotor += 100
leftmotor += 100
}
setMotors(leftmotor,rightmotor)
};
function setMotors(l, r) {
if (l<0) l = 0
if (r<0) r = 0
byId("left").style.backgroundColor = "rgb("+l+","+l+","+l+")"
byId("right").style.backgroundColor = "rgb("+r+","+r+","+r+")"
}
startButton.onclick = function() {
//interval must be limited by bit delays.
interval = setInterval(function(){video.onclick()},2000)
}
stopButton.onclick = function() {
clearInterval(interval)
}
</script>
<form>
Text Data:
<input type="text" name="data" value="Testing 123" />
<input
type="button"
value="Send"
onclick="sendI2CData(this.form[0].value);return false;"
/>
<br />
Hex Data:
<input
type="text"
name="hexdata"
value="00 11 22 33 44 55 66 77 88 99 AA BB CC DD EE FF"
/>
<input
type="button"
value="Send"
onclick="sendI2CHexData(this.form.hexdata.value);return false;"
/>
<br />
Delay:
<input type="text" value="100" onchange="delay=parseInt(this.value);" />
</form>
<footer>
<table style="margin:0;" width="100%"><tr>
<td name="left" id="left" height="72pt" width="72pt" /></td>
<td style="writing-mode: vertical-rl;text-orientation: mixed;" width="1pt">LEFT:</td>
<td /></td>
<td height="72pt" width="72pt"><img src="" name="clock" id="scl" height="72pt" width="72pt" /></td>
<td style="writing-mode: vertical-rl;text-orientation: mixed;" width="1pt">SCL:</td>
<td height="72pt" width="72pt"><img src="" name="data" id="sda" height="72pt" width="72pt" /></td>
<td style="writing-mode: vertical-rl;text-orientation: mixed;" width="1pt">SDA:</td>
<td height="72pt" width="72pt"><img src="" name="latch" id="lat" height="72pt" width="72pt" /></td>
<td style="writing-mode: vertical-rl;text-orientation: mixed;" width="1pt">LAT:</td>
<td /></td>
<td name="right" id="right" height="72pt" width="72pt" /></td>
<td style="writing-mode: vertical-rl;text-orientation: mixed;" width="1pt">RIGHT:</td>
</tr>
</table>
</footer>
<P>See also<UL>
<LI><a href="https://hackaday.io/project/184720-web-smart-phone-screen-blink-bot/details">https://hackaday.io/project/184720-web-smart-phone-screen-blink-bot/details</a></LI>
<LI><a href="http://techref.massmind.org/techref/io/serial/i2c/withGIFs.html">http://techref.massmind.org/techref/io/serial/i2c/withGIFs.html</a></LI>
<LI><a href="https://github.com/JamesNewton/AdvancedRoboticsWithJavascript/wiki#week-4-day-3-add-javascript-to-navigate">https://github.com/JamesNewton/AdvancedRoboticsWithJavascript/wiki#week-4-day-3-add-javascript-to-navigate</a></LI>
</UL>
</P>
<script>
//set the inital values so the images aren't "broken"
sendI2Cscl(false);
sendI2Csda(false);
sendLatch(false);
</script>
</body>
</html>